Spacetime haptic stimulation system and method

Abstract

The present invention relates to haptic stimulation technology. A haptic interface device comprises an array comprising haptic stimulation elements for generating a stimulation pattern. The haptic interface device comprises a controller for continuously propagating the stimulation pattern over the skin of a user, including repeatedly removing a portion of a first end of the stimulation pattern and replacing the removed portion with a new portion at a second end of the stimulation pattern.

Description

Technical Field

[0001] This invention generally relates to tactile stimulation technology. Background Technology

[0002] One type of haptic stimulation, also known as tactile stimulation, stimulates receptors in human skin. Human skin has many different types of receptors, each adapted to different tactile sensations. Meissner corpuscles in the skin are used to sense low-frequency vibrations. Merkel cells in the skin are used to sense pressure. Ruffini endings in the skin are used to sense shear deformation. Pacinian corpuscles in the skin are used to sense high-frequency vibrations. Summary of the Invention

[0003] According to one aspect of the present invention, a tactile stimulation device including a tactile interface device is provided. The tactile interface device includes an array comprising tactile stimulation elements for generating stimulation patterns. The tactile interface device includes a controller for continuously propagating the stimulation pattern onto a user's skin, including repeatedly eliminating a portion at a first end of the stimulation pattern and replacing the eliminated portion at a second end of the stimulation pattern with a new portion. Continuously propagating the stimulation pattern onto the user's skin can increase the rate at which the user acquires information presented on the tactile interface device.

[0004] Alternatively, in any of the above aspects, the controller is used to spread the stimulation pattern on the user's skin at a constant rate.

[0005] Optionally, in any of the foregoing aspects, the array comprises rows and columns of the tactile stimulation elements. The controller is configured to propagate the stimulation pattern for each row at the same rate.

[0006] Optionally, in any of the foregoing aspects, the array comprises rows and columns of the tactile stimulation elements. The controller is configured to propagate the stimulation pattern to different rows at different rates.

[0007] Alternatively, in any of the above aspects, the controller is configured to simultaneously present two partial information units in the stimulus pattern.

[0008] Alternatively, in any of the above aspects, the controller is configured to simultaneously present a portion of the first character and a portion of the second character in the stimulus pattern.

[0009] Alternatively, in any of the above aspects, the controller is configured to simultaneously present a portion of the first character and a portion of the second character in the stimulation pattern.

[0010] Alternatively, in any of the foregoing aspects, the controller is configured to move the array comprising tactile stimulation elements on the user's skin to propagate the stimulation pattern on the user's skin.

[0011] Optionally, in any of the foregoing aspects, the array including tactile stimulation elements comprises a ring of tactile stimulation elements. The controller is configured to rotate the array including tactile stimulation elements on the user's skin to propagate the stimulation pattern on the user's skin.

[0012] Optionally, in any of the foregoing aspects, the array including tactile stimulation elements comprises a straight line of tactile stimulation elements. The controller is configured to move the straight line of tactile stimulation elements on the user's skin to propagate the stimulation pattern on the user's skin.

[0013] Alternatively, in any of the foregoing aspects, the controller is configured to modify the stimulus pattern over time based on a long short-term memory model.

[0014] Alternatively, in any of the above aspects, the controller is configured to decay a portion of the stimulus pattern over time.

[0015] Alternatively, in any of the foregoing aspects, the controller is used to represent a three-dimensional object in the array, which includes tactile stimulation elements.

[0016] Optionally, in any of the foregoing aspects, the controller is used to represent the first and second dimensions of the three-dimensional objects in the array spatially, and the third dimension of the three-dimensional objects in the array temporally.

[0017] Alternatively, in any of the foregoing aspects, the controller is used to control the rate at which the stimulus pattern propagates in different regions of the array so as to represent the third dimension of the three-dimensional object in time.

[0018] Alternatively, in any of the foregoing aspects, the controller is used to represent the speed of objects in the array, which includes tactile stimulation elements, by the rate at which the stimulation pattern propagates.

[0019] According to another aspect of the present invention, a method for providing a tactile stimulation interface is provided. The method includes: generating a stimulation pattern having an array of tactile stimulation elements, the stimulation pattern including a first end and a second end. The method further includes: continuously propagating the stimulation pattern onto a user's skin, including repeatedly eliminating a portion of the first end of the stimulation pattern and replacing the eliminated portion with a new portion at the second end of the stimulation pattern.

[0020] According to another aspect of the present invention, a tactile stimulation device is provided, comprising a tactile stimulation interface including an array of tactile pixels for stimulating receptors in a user's skin with a stimulation pattern. The stimulation pattern includes a first end and a second end. The tactile stimulation device includes a receiver for receiving information to be presented in the tactile stimulation interface. The tactile stimulation device includes a processor for continuously propagating the stimulation pattern across the user's skin to present the information, including eliminating a portion of the first end of the stimulation pattern and replacing the eliminated portion with a new portion at the second end of the stimulation pattern.

[0021] This summary is provided to introduce, in a simplified form, some concepts further described in the following detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to help determine the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that address any or all the shortcomings pointed out in the background art. Attached Figure Description

[0022] Various aspects of the invention are shown by way of example and are not limited by the accompanying drawings, in which the same reference numerals denote the same elements.

[0023] Figure 1 A wireless network for data communication is shown;

[0024] Figure 2 An embodiment of a tactile stimulation system is shown;

[0025] Figure 3 An exemplary base station is shown;

[0026] Figure 4 An embodiment of the tactile stimulation device is shown;

[0027] Figure 5 An embodiment is shown in which information is presented on a tactile stimulation interface in a presentation mode called "letter symbol representation";

[0028] Figure 6 An embodiment is shown in which information is presented on a tactile stimulation interface in a presentation mode called "symbolic representation of words";

[0029] Figures 7A to 7C The tactile stimulation interface at three time points is shown to illustrate an embodiment of the propagation of stimulus patterns;

[0030] Figures 8A to 8C An embodiment of a tactile stimulation interface with eight tactile stimulation elements (or tactile pixels) is shown;

[0031] Figure 9 A flowchart illustrating an embodiment of a process for providing a tactile stimulation interface;

[0032] Figure 10 A flowchart illustrating an embodiment of the process of continuously propagating a stimulus pattern;

[0033] Figures 11A to 11C The tactile stimulation interface at three time points is shown to illustrate an embodiment of the propagation of stimulus patterns;

[0034] Figure 12 A flowchart illustrating an embodiment of the process of continuously propagating a stimulus pattern;

[0035] Figure 13 Another embodiment of the process of continuously propagating stimulus patterns is shown;

[0036] Figures 14A to 14F An embodiment of a tactile stimulation interface at six time points is shown to illustrate an embodiment of propagating stimulation patterns;

[0037] Figure 15 A flowchart illustrating an embodiment of the process of continuously propagating a stimulus pattern;

[0038] Figures 16A to 16E An embodiment of displaying messages in a tactile stimulation interface is shown;

[0039] Figure 17 A flowchart of one embodiment of the data decay process in a stimulus pattern;

[0040] Figure 18 This illustrates one embodiment of how to represent a three-dimensional object;

[0041] Figure 19 A flowchart illustrating one embodiment of the process of representing a three-dimensional object in a tactile stimulation interface;

[0042] Figure 20 A flowchart of an embodiment of the process of representing the third dimension of objects in an array over time. Detailed Implementation

[0043] The invention will now be described with reference to the accompanying drawings, which generally relate to tactile stimulation systems and methods. A technical challenge in providing tactile stimulation systems and methods is that the stimulation patterns typically generated can only present a very limited amount of information at a time. This is partly because tactile stimulation devices have a relatively small number of tactile stimulation elements. Each tactile stimulation element may be referred to as a “tactile pixel” (or tixel). The limited number of tactile pixels contrasts with interfaces such as electronic visual displays, which can include a large number of visual display elements (e.g., pixels). Therefore, electronic visual displays can be used to present a large number of words or complex images simultaneously. Conversely, tactile stimulation devices can display only one character (e.g., the letters of the alphabet) or several characters simultaneously. Therefore, it takes a longer time for a user to acquire information presented on a tactile stimulation device than for information presented on an electronic visual display. The techniques disclosed herein improve the rate at which a user acquires information presented on a tactile stimulation device. This not only saves the user time but also reduces power consumption. If the tactile stimulation device is battery-powered, the techniques disclosed herein can extend battery life. Therefore, tactile stimulation devices can operate more efficiently regardless of the type of power used.

[0044] In some embodiments, the tactile stimulation device has an array including tactile stimulation elements for generating stimulation patterns. In some embodiments, the tactile interface device has a controller for continuously propagating the stimulation pattern onto a user's skin. The term "continuous" as used herein means without interruption or repeated at fixed intervals. The phrase "continuously propagating stimulation patterns" as used herein means propagating the stimulation pattern without interruption or repeated at fixed intervals. Continuously propagating stimulation patterns onto a user's skin can accelerate the rate at which the user acquires information. For example, due to the continuous propagation of stimulation patterns, a user is able to read Braille or alphabetic characters more quickly. In some embodiments, instead of displaying one character at a time, the controller propagates (or scrolls) characters such that a new character enters the stimulation pattern as a portion of one character leaves it. Thus, the stimulation pattern can simultaneously include portions of two different characters. "Partial information" itself may be difficult to understand. However, when the second character begins to be presented, the user has already acquired the first character. The user can remember the first character, even if it is only partially displayed (or not displayed at all). Furthermore, the user can predict the next character. Therefore, even with only partial information about the next character, the user can begin to determine what the next character is. The user's ability to recognize the next character is accelerated, which increases the overall speed of information acquisition.

[0045] In some embodiments, as the controller propagates a stimulus pattern, it uses spatial and temporal variations to convey information within the stimulus pattern. In one embodiment, the controller describes a three-dimensional (3D) object within the stimulus pattern. For example, the array comprising tactile stimulus elements can be a two-dimensional array used to represent the first and second dimensions of the 3D object. In one embodiment, temporal variations are used to describe the third dimension of the 3D object. For example, the rate at which the controller propagates different regions of the stimulus pattern can be used to convey the third dimension.

[0046] It should be understood that embodiments of the present invention can be implemented in many different forms, and the scope of the claims should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to make the invention thorough and complete, and to fully convey the concept of the embodiments of the invention to those skilled in the art. In fact, the invention is intended to cover alternatives, modifications, and equivalents of these embodiments that are included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of embodiments of the invention, many specific details are set forth in order to provide a thorough understanding. However, it will be apparent to those skilled in the art that these embodiments of the invention can be practiced without these specific details.

[0047] Figure 1 A wireless network for data communication is illustrated. Communication system 100 includes user equipment 110A, user equipment 110B, user equipment 110C, radio access network (RAN) 120A, RAN 120B, core network 130, public switched telephone network (PSTN) 140, Internet 150, and other networks 160, etc. Other or alternative networks include private and public packet networks, including corporate intranets. Although Figure 1 A certain number of these components or elements are shown, but the system 100 may include any number of these components or elements.

[0048] In one embodiment, the wireless network may be a fifth-generation (5G) network, which includes at least one 5G base station. The 5G base station communicates with the communication equipment using orthogonal frequency-division multiplexing (OFDM) and / or non-OFDM with a transmission time interval (TTI) of less than 1 millisecond (e.g., 100 microseconds or 200 microseconds). Typically, the base station may also refer to either an eNB or a 5GBS (gNB). Furthermore, the wireless network may also include a network server for processing information received from the communication equipment via at least one eNB or gNB.

[0049] The communication system 100 enables multiple wireless users to send and receive data and other content. The communication system 100 can perform one or more channel access methods, including but not limited to code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), or single-carrier FDMA (SC-FDMA).

[0050] User equipment (UE) 110A, UE 110B, and UE 110C may be referred to individually as one UE 110 or collectively as multiple UEs 110, for operation and / or communication within system 100. For example, UE 110 may be used to transmit and / or receive wireless or wired signals. Each UE 110 represents any suitable end-user equipment, which may include (or may be referred to as) devices such as: user equipment (UE), wireless transmitting / receiving unit, mobile station, fixed or mobile subscriber unit, pager, cellular phone, personal digital assistant (PDA), smartphone, laptop, computer, touchpad, wireless sensor, wearable device, or consumer electronic device, etc.

[0051] In this embodiment, RAN 120A and RAN 120B each include one or more base stations (BS) 170A and BS 170B. RAN 120A and RAN 120B may be referred to as one RAN 120 or collectively as multiple RAN 120s. Similarly, base stations (BS) 170A and BS 170B may be referred to as one base station (BS) 170 or collectively as multiple base stations (BS) 170. Each BS 170 is used to establish a radio connection with one or more UEs 110 among multiple UEs 110 to enable access to the core network 130, PSTN 140, Internet 150, and / or other networks 160. For example, multiple base stations (BS) 170 may include one or more of several well-known devices, such as base transceiver stations (BTS), NodeBs, evolved NodeBs (eNBs), fifth-generation (5G) NodeBs (gNBs), home NodeBs / home eNodeBs, site controllers, access points (APs), or wireless routers, or servers, routers, switches, or other processing entities with wired or wireless networks.

[0052] In one embodiment, BS 170A is part of RAN 120A, which may include one or more other BS 170s, one or more elements, and / or one or more devices. Similarly, BS 170B is part of RAN 120B, which may include one or more other BS 170s, one or more elements, and / or one or more devices. Each BS 170 operates independently to transmit and / or receive radio signals within a specific geographic region (sometimes referred to as a "cell"). In some embodiments, multiple-input multiple-output (MIMO) technology may be employed, enabling each cell to have multiple transceivers.

[0053] The BS 170 uses a wireless communication link to communicate with one or more UE 110s among a plurality of UE 110s via one or more air interfaces (not shown). These air interfaces can employ any suitable wireless access technology.

[0054] System 100 can use multi-channel access capabilities, such as BS 170 and UE 110, to implement multiple schemes of Long Term Evolution (LTE), LTE (LTE Advanced, LTE-A), and / or LTE Multimedia Broadcast Multicast Service (MBMS). In other embodiments, base station 170, user equipment 110A to user equipment 110C are used to implement UMTS, HSPA, or HSPA+ standards and protocols. Of course, other multi-access schemes and radio protocols can be used.

[0055] RAN 120 communicates with core network 130 to provide UE 110 with voice, data, applications, Voice over Internet Protocol (VoIP), or other services. It should be understood that RAN 120 and / or core network 130 can communicate directly or indirectly with one or more other RANs (not shown). Core network 130 can also serve as a gateway access for other networks (e.g., PSTN 140, Internet 150, and other networks 160). Furthermore, some or all of the multiple UEs 110 can communicate with different wireless networks via different wireless links using different wireless technologies and / or protocols.

[0056] Multiple RAN 120s may also include millimeter-wave and / or microwave access points (APs). These APs may be part of multiple BS 170s or located remotely from multiple BS 170s. These APs may include, but are not limited to, connection points (millimeter-wave CPs) or BS 170s capable of millimeter-wave communication (e.g., millimeter-wave base stations). Millimeter-wave APs can transmit and receive signals in a frequency range from 24 GHz to 100 GHz, but are not required to operate within this entire range. As used herein, the term "base station" refers to a base station and / or a wireless access point.

[0057] Although Figure 1 An example of a communication system is shown, but it is possible to... Figure 1Various modifications can be made. For example, the communication system 100 can include any number of user equipment, base stations, networks, or other components in any suitable configuration. It should also be understood that the term "user equipment" can refer to any type of wireless device that communicates with a wireless network node in a cellular or mobile communication system. Non-limiting examples of user equipment include target devices, device-to-device (D2D) user equipment, machine-type user equipment or user equipment capable of machine-to-machine (M2M) communication, laptops, PDAs, iPads, tablets, mobile terminals, smartphones, laptop embedded equipment (LEE), laptop mounted equipment (LME), and USB dongles.

[0058] In one embodiment, UE 110 has a wireless connection to haptic stimulation device 240. In one embodiment, UE 110 transmits information (e.g., digital data) to haptic stimulation device 240 via the wireless connection. This information is displayed on haptic stimulation interface 250. In one embodiment, the haptic stimulation system includes haptic stimulation device 240 but does not include UE 110.

[0059] Figure 2 An embodiment of a tactile stimulation system is illustrated. In this embodiment, the tactile stimulation system includes a tactile stimulation device 240 and a UE 110. In another embodiment, the tactile stimulation system includes the tactile stimulation device 240 but does not include the UE 110. The UE 110 may be a mobile phone, etc., but in other examples it may be other devices, such as a desktop computer, laptop computer, tablet computer, handheld computing device, automotive computing device and / or other computing device. As shown, the exemplary UE 110 illustrated includes at least one transmitter 202, at least one receiver 204, memory 206, at least one processor 208, and at least one input / output device 212. The processor 208 can implement various processing operations of the UE 110. For example, the processor 208 can perform signal encoding, data processing, power control, input / output processing, or any other operation that enables the UE 110 to operate within system 100 (e.g., ...). Figure 1 The processor 208 may include any suitable processing or computing device for performing one or more operations. For example, the processor 208 may include a microprocessor, microcontroller, digital signal processor, field-programmable gate array, or application-specific integrated circuit. In one embodiment, the memory 206 is a non-transitory memory. In another embodiment, the memory 206 is a non-transitory computer-readable medium.

[0060] The transmitter 202 is used to modulate data or other content for transmission via at least one antenna 210. The transmitter 202 can also be used to amplify, filter, and frequency-convert RF signals before providing them to the antenna 210 for transmission. The transmitter 202 may include any suitable structure for generating signals for wireless transmission.

[0061] The receiver 204 can be used to demodulate data or other content received by at least one antenna 210. The receiver 204 can also be used to amplify, filter, and frequency-convert RF signals received through the antenna 210. In some embodiments, the receiver 204 is an RF signal receiver. The receiver 204 can include any suitable structure for processing wirelessly received signals. The antenna 210 includes any suitable structure for transmitting and / or receiving wireless signals. The same antenna 210 can be used to transmit and receive RF signals, or alternatively, different antennas 210 can be used to transmit and receive signals.

[0062] It is understood that one or more transmitters 202, one or more receivers 204, and one or more antennas 210 can be used in the UE 110. Although shown as separate blocks or components, at least one transmitter 202 and at least one receiver 204 can be combined to form a transceiver. Therefore, a single block of transceivers is shown instead of a single unit. Figure 2 The transmitter 202 and the receiver 204 are separate blocks. In one embodiment, at least one of the transmitters 202 is used to communicate with the tactile stimulation device 240. In one embodiment, at least one of the receivers 204 is used to communicate with the tactile stimulation device 240. In one embodiment, the transmitter and / or the receiver includes a wireless communication interface for communicating with the tactile stimulation device 240.

[0063] The UE 110 also includes one or more input / output devices 212. These input / output devices 212 facilitate interaction with the user. Each input / output device 212 includes any suitable structure for providing or receiving information from the user, such as a speaker, microphone, keypad, keyboard, display, or touchscreen. It should be noted that some users may have difficulty using one or more of these structures to receive information. For example, some users may have difficulty seeing or reading the visual display on the UE 110. In another example, some users may have difficulty hearing the speakers on the UE 110. Embodiments of the haptic stimulation device 240 allow the user to obtain such information from the UE 110.

[0064] In addition, the UE 110 includes at least one memory 206. The memory 206 stores instructions and data used, generated, or collected by the UE 110. For example, the memory 206 may store software or firmware instructions executed by one or more processors 208, as well as data for reducing or eliminating interference in the incoming signal. Each memory 206 includes one or more suitable volatile and / or non-volatile storage and retrieval devices. Any suitable type of memory can be used, such as random access memory (RAM), read-only memory (ROM), hard disk, optical disk, subscriber identity module (SIM) card, memory stick, secure digital (SD) memory card, etc.

[0065] UE 110 has a wireless connection to the haptic stimulation device 240. The haptic stimulation device 240 includes a haptic stimulation interface 250 (also simply referred to as the "stimulation interface"), a receiver 260, a controller 270, and a digital-to-analog (D / A) converter 275. The receiver 260 may include a wireless receiver for wireless communication with UE 110. The receiver 260 can be used to communicate via various wireless communication protocols, including but not limited to the IEEE (Institute of Electrical and Electronics Engineers) 802.11 protocol or the IEEE 802.15 protocol. In one embodiment, the receiver 260 is used for communication using Bluetooth. Optionally, the haptic stimulation device 240 may have a transmitter for communication via various wireless communication protocols. In one embodiment, a user can select information transmitted from UE 110 to the haptic stimulation device 240. After the user becomes accustomed to using the haptic stimulation device 240, the user can request more detailed information. For example, the user can choose to receive email notifications, keywords in emails, or the entire email.

[0066] The stimulation interface 250 is used to generate tactile stimulation patterns. In one embodiment, when a user's skin comes into contact with the stimulation interface 250, the tactile stimulation pattern stimulates receptors in the user's skin. These receptors may include, but are not limited to, Meissner bodies, Merkel cells, Rufini terminals, and Pacinian bodies. The stimulation interface 250 does not need to stimulate all types of receptors. In one embodiment, the stimulation interface 250 stimulates a subset of one or more types of receptors (e.g., Meissner bodies, Merkel cells, Rufini terminals, and / or Pacinian bodies). In one embodiment, the stimulation interface 250 has a set of stimulation elements (e.g., patterns, arrays, etc.). In some embodiments, the stimulation interface 250 stimulates receptors in human skin through mechanical motion (e.g., mechanical vibration). In one embodiment, each of the stimulation elements includes an electroacoustic transducer for generating sound waves.

[0067] The controller 270 is used to control the operation of the tactile stimulation device 240. In one embodiment, the controller 270 is used to control data transmission from the UE 110 via the receiver 260. In one embodiment, data transmission from the UE 110 to the tactile stimulation device 240 is unidirectional. In another embodiment, data transmission is bidirectional. Therefore, the tactile stimulation device 240 can report configuration information, status, etc., to the UE 110.

[0068] In one embodiment, the controller 270 is used to control the presentation of data on the stimulation interface 250. In one embodiment, the controller 270 is used to continuously propagate a stimulation pattern on the user's skin. The D / A converter 275 is used to convert digital signals into analog signals. In one embodiment, the controller 270 processes a first digital signal from the UE 110 and provides a second digital signal to the D / A converter 275. Based on the second digital signal from the controller 270, the D / A converter 275 outputs an analog signal to drive the stimulation interface 250. Because the controller 270 can handle functions, such as generating digital signals suitable for the configuration of the stimulation interface 250, the first digital signal and the second digital signal can be different. In one embodiment, the UE 110 processes these functions, wherein the first digital signal and the second digital signal can be the same.

[0069] The controller 270 can be implemented in hardware, software, or a combination of both. The hardware control circuitry components used to implement the controller 270 may include, but are not limited to, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SOCs), complex programmable logic devices (CPLDs), and dedicated computers. In one embodiment, the controller 270 is implemented as software (stored on a storage device) for programming one or more processors. Therefore, the controller 270 may include a storage device and a processor.

[0070] In one embodiment, the controller 270 works in conjunction with the UE 110 to present information on the stimulation interface 250. For example, the UE 110 can send digital data to the receiver 260 by executing instructions stored in the memory 206 on the processor 208. Therefore, in one embodiment, the combination of the controller 270, the processor 208, and the memory 206 can be referred to as a control circuit for presenting information on the tactile stimulation interface 250.

[0071] Figure 3 An exemplary BS 170 is shown that can implement the methods and descriptions provided by the present invention. As shown, the BS 170 includes at least one processor 308, at least one transmitter 302, at least one receiver 304, one or more antennas 310, and at least one memory 306. The processor 308 implements various processing operations of the BS 170, such as signal encoding, data processing, power control, input / output processing, or any other function. Each processor 308 includes any suitable processing or computing device for performing one or more operations. For example, each processor 308 may include a microprocessor, microcontroller, digital signal processor, field-programmable gate array, or application-specific integrated circuit. In one embodiment, the memory 306 is a non-transient memory.

[0072] Each transmitter 302 includes any suitable structure for generating signals for wireless transmission to one or more UEs 110 or other devices. Each receiver 304 includes any suitable structure for processing signals wirelessly received from one or more UEs 110 or other devices. Although shown as separate blocks or components, at least one transmitter 302 and at least one receiver 304 can be combined into a transceiver. Each antenna 310 includes any suitable structure for transmitting and / or receiving wireless signals. Although the common antennas 310 shown are all coupled to the transmitters 302 and the receivers 304, one or more antennas 310 can be coupled to one or more of the transmitters 302, and one or more individual antennas 310 can be coupled to one or more of the receivers 304. Each memory 306 includes one or more of any suitable volatile and / or non-volatile storage and retrieval devices.

[0073] Figure 4 An embodiment of a tactile stimulation device 240 is illustrated. The stimulation interface 250 has an array comprising tactile stimulation elements 410 (also simply referred to as "stimulation elements"). Each tactile stimulation element 410 may also be referred to as a "tactile pixel" (or tixel). In one embodiment, the array of stimulation elements 410 is used to stimulate receptors in human skin (e.g., Meissner bodies, Merkel cells, Rufennig's tertiary lobes, and / or Pacinian bodies). In one embodiment, each stimulation element 410 can be controlled independently. Figure 4 The setup shown is merely an example; the stimulus element 410 can have multiple other configurations. In this example, there are 36 stimulus elements 410 in 6×6 groups. The number of stimulus elements 410 can vary depending on the implementation. Figure 4 In the example, there are 6 rows of stimulus elements 410 and 6 columns of stimulus elements 410. The number of rows is not required to equal the number of columns. Figure 4 In the example, the stimulus elements 410 are equally spaced. However, equal spacing is not required. The patterns are not required to be arranged in rows and columns. In one embodiment, the group comprises an array of stimulus elements 410. The term "array" refers to a systematic arrangement of similar objects, such as stimulus elements 410.

[0074] exist Figure 4 Each stimulus element 410 has a square cross-sectional shape, but the stimulus element 410 may have other cross-sectional shapes.

[0075] In one embodiment, each stimulating element 410 includes an electrode that can be biased to a desired voltage. Thus, in one embodiment, the stimulation interface 250 includes an array of electrodes for stimulating receptors in a user's skin. In one embodiment, some of the stimulating elements 410 are referred to as activating electrodes, while the others are referred to as grounding electrodes. In one embodiment, there are one or more grounding electrodes. By biasing the activating electrodes to an appropriate voltage and placing the one or more grounding electrodes at a normal voltage, current can flow through the user's skin from the activating electrodes to the one or more grounding electrodes. The current flowing through the user's skin can be an ionizing current. In one embodiment, if it is desired not to activate that particular activating electrode, the activating electrode can be biased to a normal voltage.

[0076] In one embodiment, each stimulation element 410 includes an electromechanical transducer. Therefore, in one embodiment, the stimulation interface 250 includes an array of electromechanical transducers for stimulating receptors in a user's skin. The electromechanical transducers are capable of converting electrical energy into mechanical energy. The mechanical energy can take the form of mechanical vibration. For example, the electromechanical transducers can be controlled by an electrical signal (e.g., current or voltage) to induce mechanical vibration of the stimulation element 410. In one embodiment, a pattern of stimulation elements 410 including electromechanical transducers is used to stimulate receptors in human skin through the mechanical vibration of the electromechanical transducers.

[0077] In one embodiment, each stimulation element 410 includes an electroacoustic transducer. Therefore, in one embodiment, the stimulation interface 250 includes an array of electroacoustic transducers for stimulating receptors in a user's skin. The electroacoustic transducers are capable of converting electrical energy into acoustic energy. The acoustic energy can be in the form of sound waves. For example, the electroacoustic transducers can be controlled by electrical signals (e.g., current or voltage) to generate sound waves. In one embodiment, each electroacoustic transducer includes an audio speaker. In one embodiment, the stimulation element array 410 including the electroacoustic transducers is used to stimulate receptors in human skin through mechanical vibrations of the electroacoustic transducers.

[0078] The diameter of the electroacoustic transducer can be between approximately 0.5 mm and 2 mm. However, electroacoustic transducers smaller than 0.5 mm or larger than 2 mm are also suitable for the stimulating element 410. In some embodiments, the electroacoustic transducer is driven to generate sound waves inaudible to the human ear. In one embodiment, the electroacoustic transducer is driven to generate sound waves with frequencies below 20 Hz. In some embodiments, the electroacoustic transducer is driven to generate sound waves in the frequency range of 10 Hz to 10 kHz. However, the electroacoustic transducer can be driven to generate sound waves below 10 Hz or greater than 10 kHz.

[0079] In one embodiment, the electroacoustic transducer is driven to generate a sound pressure level of less than 40 dB at a distance of 250 meters from the stimulation interface. However, in some embodiments, the electroacoustic transducer may be driven to generate a sound pressure level of greater than 40 dB at a distance of 250 meters from the stimulation interface. In one embodiment, the electroacoustic transducer is driven to generate a sound wave with an amplitude between 0 dB and 40 dB at a distance of 250 meters from the stimulation interface.

[0080] In one embodiment, each stimulating element 410 includes an electrothermal transducer. Therefore, in one embodiment, the stimulation interface 250 includes an array of electrothermal transducers for stimulating receptors in a user's skin. The electrothermal transducers are capable of converting electrical energy into heat energy. For example, the electrothermal transducers can be controlled by an electrical signal (e.g., current or voltage) to generate heat energy. In one embodiment, each electrothermal transducer includes a resistor. In one embodiment, each electrothermal transducer includes a diode. In one embodiment, the array of stimulating elements 410 including electrothermal transducers is used to stimulate receptors in human skin through the relative temperature of the electrothermal transducers.

[0081] In one embodiment, a single stimulating element 410 may stimulate receptors in human skin on its own. For example, each stimulating element may include an electromechanical transducer controlled by an electrical signal (e.g., current or voltage) to generate mechanical vibrations. In one embodiment, two or more stimulating elements 410 work together to stimulate receptors in human skin. For example, each stimulating element may include an electrode such that current flows from a point of contact between the user's skin and an activating electrode across the user's skin and to a point of contact between the user's skin and a grounding electrode. It should be noted that, in one embodiment, the current within the user's skin is an ionizing current.

[0082] The format of the information provided by the UE 110 to the tactile stimulation device 240 can vary depending on the implementation. For example, the information can be "raw data" such as text data or even image data. In this case, the tactile stimulation device 240 is used to determine how to map the "raw data" to the pattern of the tactile stimulation element 410. However, the information can be provided to the UE 110 in a more refined format. For example, the UE 110 can understand the configuration of the pattern of the stimulation element 410. In this case, the UE 110 can instruct the tactile stimulation device 240 what should be presented in each stimulation element 410.

[0083] Figure 5An embodiment is shown in which information is presented on a tactile stimulation interface 250 in a presentation mode called "symbolic representation of letters". The letter "A" of the English alphabet is represented on the tactile stimulation interface 250. In this example, the representation on the tactile stimulation interface 250 visually resembles the letter "A" of the English alphabet. This concept can be applied to the alphabets of other languages.

[0084] Figure 6 An embodiment of presenting information on a haptic interface 250 in a presentation mode called "symbolic representation of a word" is illustrated. The word "love" from the English alphabet is represented on the haptic interface 250. In this example, the representation on the haptic interface 250 visually resembles a heart symbol. In this example, the heart symbol is the symbolic representation of the word "love." It is important to note that the entire word is presented on the haptic interface 250, rather than individual letters, making the haptic interface 250 more efficient in presenting information to the user. For example, this significantly reduces the time required to present an email to a user. However, in some cases, users may not understand more complex words. In other words, users may find it easier to understand letters of the alphabet.

[0085] Figure 5 and Figure 6 The concept can be applied to characters or symbols written in other languages. Therefore, one embodiment includes a representation pattern referred to herein as "symbolic representation of characters written in a language." For example, in one embodiment, the representation pattern is a symbolic representation of Chinese characters. Here, Chinese characters refer to any known Chinese characters that have been developed into writable characters. In one embodiment, Braille characters can be presented on the stimulation interface 250.

[0086] Figures 7A to 7C The tactile stimulation interface 250 is shown at three time points to illustrate an embodiment of the propagation of a stimulation pattern. In some embodiments, the stimulation pattern is propagated on the user's skin. Figures 7A to 7C The user skin is not explicitly shown. Figure 7A A tactile stimulation interface 250 with eight tactile stimulation elements (or tactile pixels) 702a to 702h is shown. Figure 7A A first time point is shown. The tactile pixels 702a to 702h can be referred to as a tactile pixel array. An arrow is shown in this example. In some embodiments, the array has multiple rows. Figure 4 An example of an array with multiple rows is shown. See again. Figure 7A The tactile pixel 702a can be referred to as the first end of the array, and the tactile pixel 702h can be referred to as the second end of the array.

[0087] Tactile pixels 702a to 702h respectively present signal elements S0 to S7. In general, a signal element can be referred to as a stimulation pattern (or signal) presented on the tactile stimulation interface 250. For example, tactile pixel 702a presents signal element S0, tactile pixel 702b presents signal element S1, etc. Each signal element is represented by an arrow. The length of the arrow indicates the amplitude of the signal element. Figures 7A to 7C In this example, the arrows only show two different lengths to indicate that each tactile pixel can be in one of two states. However, tactile pixels do not need to have binary states. The pattern of signal elements can be called a stimulus pattern. The pattern at a given time point can be called a state of the stimulus pattern. When one or more signals change, the state of the stimulus pattern can change to a new (or next) state. In some embodiments, states appear consecutively at regular intervals. At this time point, the stimulus pattern has a first end indicated by S0 and a second end indicated by S7. As described below, the stimulus pattern changes over time.

[0088] Figure 7B The second time point after the first time point is shown. Figure 7B The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 7A The next state following the shown state. At this time, the tactile stimulation interface 250 displays signal elements S1 to S8. Therefore, the stimulation pattern at this time includes signal elements S1 to S8. It should be noted that signal element S0 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S8) has been added to the second end of the stimulation pattern. The stimulation pattern shown propagates in the direction from tactile pixel 702h to tactile pixel 702a (as indicated by the arrow below "Stimulation Pattern Propagation").

[0089] Figure 7C The third time point is shown after the second time point. Figure 7C The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 7B The next state following the shown state. At this time, the tactile stimulation interface 250 displays signal elements S2 to S9. Therefore, the stimulation pattern at this time includes signal elements S2 to S9. It should be noted that signal element S1 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S9) has been added to the second end of the stimulation pattern. The stimulation pattern shown propagates in the direction from tactile pixel 702h to tactile pixel 702a (as indicated by the arrow below "Stimulation Pattern Propagation").

[0090] As described above, the array can have multiple rows. In one embodiment, such as Figures 7A to 7C The process involves processing each row as described above. The content of the stimulus patterns in each row does not need to be the same.

[0091] Figures 8A to 8C The tactile stimulation interface 250 is shown at three time points to illustrate embodiments of the propagation of stimulation patterns. In some embodiments, the stimulation patterns are propagated on the user's skin. Figures 8A to 8C The user skin is not explicitly shown. Exemplary signals and their propagation are... Figures 7A to 7C Similar to the example. However, with Figures 7A to 7C The straight-line configuration is the opposite, in Figures 8A to 8C The tactile stimulation interface 250 described herein has a circular configuration. Figures 8A to 8C Three different states of the stimulus pattern are shown. In some embodiments, these three states occur sequentially at fixed intervals.

[0092] Figure 8A An embodiment of a tactile stimulation interface 250 having eight tactile stimulation elements (or tactile pixels) 802a to 802h is shown. Figure 8A The first time point is shown. Haptic pixels 802a to 802h can be referred to as a haptic pixel array. In this example, the arrow has a circular configuration of a single haptic pixel "ring". In some embodiments, the array has a circular configuration of multiple haptic pixel "rings". These rings do not need to have the same number of haptic pixels. See again Figure 8A The tactile pixel 802a can be referred to as the first end of the array, and the tactile pixel 802h can be referred to as the second end of the array.

[0093] Haptic pixels 802a to 802h respectively present the same as Figure 7A The example shows the same signal elements S0 to S7. For example, haptic pixel 802a presents signal element S0, haptic pixel 802b presents signal element S1, and so on. Each signal element is represented by an arrow. The length of the arrow indicates the amplitude of the signal element. Figures 8A to 8C In this example, the arrows only show two different lengths to indicate that each tactile pixel can be in one of two states. However, tactile pixels do not need to have binary states. The pattern of the signal elements can be called the stimulus pattern. At this point in time, the stimulus pattern has a first end indicated by S0 and a second end indicated by S7. As described below, the stimulus pattern changes over time.

[0094] Figure 8B The second time point after the first time point is shown. Figure 8B The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 8AThe next state following the state shown. At this time, the tactile stimulation interface 250 displays signal elements S1 to S8. Therefore, the stimulation pattern at this time includes signal elements S1 to S8. It should be noted that signal element S0 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S8) has been added to the second end of the stimulation pattern. The stimulation pattern shown propagates in the direction from tactile pixel 802h to tactile pixel 802a (as indicated by the arrow below "Stimulation Pattern Propagation"). In other words, in this example, the stimulation pattern propagates in a clockwise direction.

[0095] Figure 8C The third time point is shown after the second time point. Figure 8C The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 8B The next state following the state shown. At this time, the tactile stimulation interface 250 displays signal elements S2 to S9. Therefore, the stimulation pattern at this time includes signal elements S2 to S9. It should be noted that signal element S1 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S9) has been added to the second end of the stimulation pattern. The stimulation pattern shown propagates clockwise from tactile pixels 802h to tactile pixels 802a (as indicated by the arrow below "Stimulation Pattern Propagation").

[0096] Figure 9 A flowchart of an embodiment of a process 900 for providing a tactile stimulation interface. (See reference) Figures 7A to 8C The process 900 is described, but the present invention is not limited thereto.

[0097] Step 902: Generate a stimulation pattern having an array of tactile stimulation elements. The stimulation pattern can come into contact with the user's skin, causing it to be presented on the user's skin. The presented stimulation pattern includes a first end and a second end. For example, as... Figure 7A or Figure 8A The generation of stimulus patterns. Figure 7A In this context, the first end of the stimulation pattern is a signal element S0, which is presented in the tactile pixel 702a. Figure 8A In the above, the first end of the stimulation pattern is a signal element S0, which is presented in the tactile pixel 802a.

[0098] Step 904: Continuously spread the stimulating pattern on the user's skin. Step 904 may include repeatedly eliminating a portion of a first end of the stimulating pattern and replacing the eliminated portion with a new portion at a second end of the stimulating pattern. Figure 7BIn this process, the signal element S0 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S8) has been added to the second end of the stimulation pattern. Figure 7C In this process, signal element S1 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S9) has been added to the second end of the stimulation pattern. Therefore, the stimulation pattern propagates in the direction from tactile pixel 702h to tactile pixel 702a (as indicated by the arrow below "Stimulation Pattern Propagation"). Figure 7A status and Figure 7B There are time intervals between the states. Similarly, Figure 7B status and Figure 7C There are also time intervals between the states. In some embodiments, these different states occur at fixed intervals. Therefore, the stimulation pattern spreads continuously across the user's skin.

[0099] In some embodiments, the stimulation pattern propagates across the user's skin at a constant rate. Propagating the stimulation pattern at a constant rate means that the time interval between successive signal elements contacting the same point on the user's skin is constant. See, for example, [link to relevant documentation]. Figures 7A to 7C At time point t0, signal element S0 is located at a specific point on the user's skin; at time point t1, signal element S1 is located at a specific point on the user's skin; at time point t2, signal element S2 is located at a specific point on the user's skin. In some embodiments, the time interval between t0 and t1 is the same as the time interval between t1 and t2, and so on. Therefore, the stimulation pattern propagates on the user's skin at a constant rate.

[0100] exist Figure 8B and Figure 8C Step 904 is described in the example. Figure 8B In this process, the signal element S0 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S8) has been added to the second end of the stimulation pattern. Figure 8C In this example, signal element S1 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S9) has been added to the second end of the stimulation pattern. Therefore, the stimulation pattern propagates in the direction from tactile pixel 802h to tactile pixel 802a (as indicated by the arrow below "Stimulus Pattern Propagation"). In other words, in this example, the stimulation pattern propagates continuously in a clockwise direction.

[0101] Figure 10 A flowchart illustrating an embodiment of a process 1000 for the continuous propagation of a stimulus pattern. Process 1000 provides further details of process 900. For ease of description, the tactile stimulation interface has stimulus elements 0 to n (a total of n+1 elements). Combined with... Figures 7A to 8CFor example, n = 7. Combined with... Figures 7A to 7C For example, element 702a is element 0, element 702b is element 1, ..., element 702n is element n. Combined with... Figures 8A to 8C For example, element 802a is element 0, element 802b is element 1, ..., element 802n is element n.

[0102] Step 1002: Activate or deactivate the stimulus element (or haptic pixel) to present a stimulus pattern. The stimulus pattern may come into contact with the user's skin, causing the stimulus pattern to be presented on the user's skin. Step 1004: Determine whether to proceed to the next state of the stimulus pattern. In one embodiment, each state is presented for a predetermined time before proceeding to the next state.

[0103] For ease of description, steps 1006 to 1010 are described in a specific order. These steps may occur simultaneously or in different orders. Step 1006: Remove data from element 0 of the stimulus pattern. That is, the signal element presented in element 0 for the previous state of the stimulus pattern is no longer part of the stimulus pattern. For example, from Figures 7A to 7B When the state begins, signal element S0 no longer appears in the stimulus pattern.

[0104] Step 1008: For elements i = 1 to n, move the data in element i to element i+1. For example, from... Figures 7A to 7B Starting from the state, signal element S1 moves from element 702b to 702a, signal element S2 moves from element 702c to 702b, and so on.

[0105] Step 1010: Add the new data to the stimulus pattern of stimulus element n. For example, from Figures 7A to 7B The process begins with a state where signal element S8 is added to the stimulus pattern of stimulus element 702h. Then, process 1000 returns to step 1004, where, in one embodiment, the current state of the stimulus pattern is presented within a predetermined time. Therefore, process 1000 describes an embodiment of the continuous propagation of the stimulus pattern.

[0106] Example description of an array that includes tactile stimulation elements in a single row. Figure 9 and Figure 10 In some embodiments, the array including tactile stimulation elements has rows and columns of tactile stimulation elements. In some embodiments, process 900 and / or process 1000 propagate the stimulation pattern for each row at the same rate. In other embodiments, the stimulation pattern propagates for different rows at different rates. (Described below) Figures 18 to 20 In one embodiment, the stimulus pattern can propagate at different rates to different rows to convey three-dimensional information.

[0107] Figures 11A to 11C The tactile stimulation interface 250 is shown at three time points to illustrate embodiments of the propagation of stimulation patterns. In some embodiments, the stimulation patterns are propagated on the user's skin. Figures 11A to 11C The user's skin is not explicitly shown. Exemplary stimuli patterns and their propagation are shown in the image. Figures 8A to 8C The example is similar. However, the tactile stimulation interface 250 in Figures 11A to 11C Rotation is shown in the example. Figures 11A to 11C The three different states of the stimulation pattern are shown. In some embodiments, these three states occur sequentially at fixed intervals.

[0108] Figure 11A An embodiment of a tactile stimulation interface 250 having eight tactile stimulation elements (or tactile pixels) 1102a to 1102h is shown. The tactile stimulation interface 250 has... Figure 8A The embodiments have similar shapes and numbers of stimulating elements. However, Figure 11A The tactile pixels 1102a to 1102h in the figure use different reference numerals. Figure 11A The first time point is shown. Tactile pixel 1102a can be referred to as the first end of the array, and tactile pixel 1102h can be referred to as the second end of the array.

[0109] Haptic pixels 1102a to 1102h respectively present the same as Figure 8A The example uses the same signal elements S0 to S7. For example, haptic pixel 1102a presents signal element S0, haptic pixel 1102b presents signal element S1, and so on. Each signal element is represented by an arrow. The length of the arrow indicates the amplitude of the signal element. Figures 11A to 11C In this example, the arrows only indicate two different lengths to illustrate that each tactile pixel can be in one of two states. However, tactile pixels do not need to have binary states. At this point in time, the stimulus pattern has a first end indicated by S0 and a second end indicated by S7. As described below, the stimulus pattern changes over time.

[0110] Figure 11B The second time point after the first time point is shown. Figure 11B The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 11A The next state following the state shown. At this time, the tactile stimulation interface 250 displays signal elements S1 to S8. Therefore, the stimulation pattern at this time includes signal elements S1 to S8. It should be noted that signal element S0 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S8) has been added to the second end of the stimulation pattern. The array is shown rotating clockwise. For example, tactile pixel 1102a is located at... Figure 11B The 12 o'clock position in the image, while the haptic pixel 1102h is located at 1. Figure 11A The 12 o'clock position.

[0111] Figure 11C The third time point is shown after the second time point. Figure 11C The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 11B The next state following the state shown. At this time, the tactile stimulation interface 250 displays signal elements S2 to S9. Therefore, the stimulation pattern at this time includes signal elements S2 to S9. It should be noted that signal element S1 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S9) has been added to the second end of the stimulation pattern. The array is shown rotating clockwise. Therefore, the stimulation pattern also rotates clockwise. Furthermore, in this example, the stimulation pattern rotates on the user's skin.

[0112] Figure 12 A flowchart illustrating an embodiment of a process 1200 for the continuous propagation of a stimulus pattern. Process 1200 provides further details of process 900. For ease of description, the tactile stimulation interface has stimulus elements 0 to n (a total of n+1 elements). Combined with... Figures 11A to 11C For example, n = 7. Combined with... Figures 11A to 11C For example, element 1102a is element 0, element 1102b is element 1, ..., element 1102n is element n.

[0113] Step 1202: Activate or deactivate the stimulus element (or tactile pixel) to present a stimulus pattern. The stimulus pattern can come into contact with the user's skin, so that the stimulus pattern is presented on the user's skin. Figure 11A An example of step 1202 is shown. Step 1204: Determine whether to proceed to the next state of the stimulus pattern. In one embodiment, each state is presented for a predetermined time before proceeding to the next state.

[0114] For ease of description, steps 1206 to 1208 are described in a specific order. These steps may occur simultaneously or in a different order. Step 1206: Rotate or move the tactile stimulation interface 250 by a stimulation element. For example, from Figures 11A to 11B The tactile stimulation interface 250 is rotated clockwise by a stimulation element starting from the state of tactile stimulation.

[0115] Step 1208: Replace the data in the selected elements to delete the old data and add the new data to the stimulus pattern. For example, Figure 11A and Figure 11BThe comparison shows the signal element S0 replaced by signal element S8 in tactile pixel 1102a. In another example, Figure 11B and Figure 11C The comparison shows the signal element S1 that was replaced by signal element S9 in tactile pixel 1102b.

[0116] Then, process 1200 returns to step 1204, in one embodiment, presenting the current state of the stimulus pattern within a predetermined time. Thus, process 1200 describes an embodiment of the continuous propagation of the stimulus pattern.

[0117] Figure 13 Another embodiment of a process 1300 for the continuous propagation of a stimulus pattern is shown. Process 1300 provides further details of process 900. Process 1300 is another process 1200 in which the array rotates continuously. The term "continuous" or "continuously" as used herein means "without interruption." This contrasts with the embodiment of process 1200, in which the array "enters" from one state to the next.

[0118] Step 1302: Activate or deactivate the stimulus element (or tactile pixel) to present a stimulus pattern. The stimulus pattern can come into contact with the user's skin, so that the stimulus pattern is presented on the user's skin. Figure 11A An example of step 1302 is shown. Step 1304: Continuously rotate the array. In one embodiment, the array rotates continuously at a constant angular velocity.

[0119] Step 1306: Determine if it is time to change the state of the stimulus pattern. Since a new state can be presented after a predetermined time period, step 1306 can be similar to step 1204.

[0120] Step 1308: Replace the data in the selected elements to delete the old data and add the new data to the stimulus pattern. For example, Figure 11A and Figure 11B The comparison shows the signal element S0 replaced by signal element S8 in tactile pixel 1102a. In another example, Figure 11B and Figure 11C The comparison shows the signal element S1 that was replaced by signal element S9 in tactile pixel 1102b.

[0121] Then, process 1300 returns to step 1304. It should be noted that step 1304 can actually continue throughout the entire process. That is, it is not required to stop the rotation of the array during process 1300. Therefore, process 1300 describes an embodiment of the continuous propagation of the stimulus pattern.

[0122] Figures 14A to 14F An embodiment of the tactile stimulation interface 250 at six time points is shown to illustrate an embodiment of the propagation of a stimulation pattern. In this embodiment, the tactile stimulation interface 250 is physically moved on the user's skin. The tactile stimulation interface 250 and... Figure 7A The interfaces are similar, therefore, the haptic pixels 702a to 702h use the same reference numerals. Figure 14A It shows the relationship with Figure 7A The same stimulation pattern is shown. The dashed box marked 1450 represents the user's skin in contact with haptic pixels 702a to 702h.

[0123] Figure 14B It shows Figure 14A The second time point after the first time point in the timeline. Figure 14B The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 14A The next state following the shown state. The tactile stimulation interface 250 moves as indicated by the arrow labeled "array movement". Therefore, the tactile stimulation interface 250 is moving across the user's skin 1450. At this time, the tactile stimulation interface 250 displays signal elements S1 to S8. Therefore, the stimulation pattern at this time includes signal elements S1 to S8. It should be noted that signal element S0 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S8) has been added to the second end of the stimulation pattern. The stimulation pattern shown propagates in the direction from tactile pixel 702h to tactile pixel 702a (as indicated by the arrow below "stimulation pattern propagation").

[0124] Figure 14C The third time point is shown after the second time point. Figure 14C The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 14B The next state following the shown state. The tactile stimulation interface 250 has moved further, as indicated by the arrow labeled "array movement". Therefore, the tactile stimulation interface 250 is moving across the user's skin 1450. At this time, the tactile stimulation interface 250 displays signal elements S2 to S9. Therefore, the stimulation pattern at this time includes signal elements S2 to S9. It should be noted that signal element S1 (at the first end of the stimulation pattern) has been eliminated, and a new portion of the stimulation pattern (S9) has been added to the second end of the stimulation pattern. The stimulation pattern shown propagates in the direction from tactile pixel 702h to tactile pixel 702a (as indicated by the arrow below "stimulation pattern propagation").

[0125] Figure 14D The time points after the third time point are shown. However, Figure 14D The tactile stimulation interface 250 is not shown immediately following. Figure 14C The state shown is the next state after the previous state. Conversely, several intermediate states are not described. The tactile stimulation interface 250 has moved further on the user's skin 1450, as indicated by the arrow labeled "array movement". At this time, the tactile stimulation interface 250 displays signal elements S8 to S14. Therefore, the stimulation pattern at this time includes signal elements S8 to S14. The stimulation pattern shown propagates in the direction from tactile pixel 702h to tactile pixel 702a (as indicated by the arrow below "stimulation pattern propagation").

[0126] Figure 14E It shows Figure 14D The time point after the point in time. Figure 14E The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 14D The next state after the state shown in the diagram. The tactile stimulation interface 250 has moved back. Figure 14A The position in the middle. However, at this time, the tactile stimulation interface 250 includes signal elements S15 to S22. In this state transition, it has been replaced Figure 14D All signal elements shown.

[0127] Figure 14F It shows Figure 14E The time point after the point in time. Figure 14F The tactile stimulation interface 250 described in one embodiment is shown immediately following Figure 14E The next state following the shown state. The tactile stimulation interface 250 moves as indicated by the arrow labeled "array movement". Therefore, the tactile stimulation interface 250 is moving across the user's skin 1450. At this time, the tactile stimulation interface 250 displays signal elements S16 to S23.

[0128] Figure 15 A flowchart illustrating an embodiment of a process 1500 for the continuous propagation of a stimulus pattern. Process 1500 provides further details of process 900. For ease of description, the tactile stimulation interface has stimulus elements 0 to n (a total of n+1 elements). Combined with... Figures 14A to 14F For example, n = 7. Combined with... Figures 14A to 14C For example, element 702a is element 0, element 702b is element 1, ..., element 702n is element n.

[0129] Step 1502: Activate or deactivate the stimulating element (or haptic pixel) to present a stimulating pattern. The stimulating pattern may come into contact with the user's skin, causing it to be presented on the user's skin. Step 1504: Determine whether to proceed to the next state of the stimulating pattern. In one embodiment, each state is presented for a predetermined time before proceeding to the next state. Step 1506: Determine whether to return the array to the starting position. An example of returning is... Figures 14D to 14E The state transition is described in the section on state transitions. If the array does not return to its starting position, steps 1508 through 1514 are executed.

[0130] For ease of description, steps 1508 to 1514 are described in a specific order. These steps may occur simultaneously or in different orders. Step 1508: Rotate or move the array by a stimulus element. See, for example, [link to relevant documentation]. Figures 14A to 14B The tactile stimulation interface 250 can be from Figures 14A to 14B Move one stimulus element to the right. In another example, the tactile stimulation interface 250 can be as follows: Figures 11A to 11C The rotation is shown.

[0131] Step 1510: Remove the data from element 0 of the stimulus pattern. That is, the signal element presented in element 0 for the previous state of the stimulus pattern is no longer part of the stimulus pattern. For example, from Figures 14A to 14B When the state begins, signal element S0 no longer appears in the stimulus pattern.

[0132] Step 1512: For elements i = 1 to n, move the data in element i to element i+1. For example, from... Figures 14A to 14B Starting from the state, signal element S1 moves from element 702b to 702a, signal element S2 moves from element 702c to 702b, and so on.

[0133] Step 1514: Add the new data to the stimulus pattern of stimulus element n. For example, from... Figures 14A to 14B At the start of the state, signal element S8 is added to the stimulation pattern of stimulus element 702h.

[0134] Then, process 1500 returns to step 1504, in one embodiment, presenting the current state of the stimulation pattern within a predetermined time. As described above, step 1506 is to determine whether to return the array to its starting position. In one embodiment, step 1516 is performed to return the array after it has moved to its furthest extent. Thus, process 1500 depicts an embodiment of the continuous propagation of the stimulation pattern on the user's skin.

[0135] Figures 16A to 16EAn example of displaying a message in a tactile stimulation interface is shown; the message “how are you” appears over time. Figures 16A to 16E Five distinct states of the stimulus pattern containing the message are shown. No other intermediate states are described. Figure 16A In the tactile stimulation interface 250, the word "how" is displayed. Figure 16B In this design, portions of the letters "h" and "o" have been removed from the stimulation pattern. Portions of the letters "o" and "h" remain in the stimulation pattern, but at different locations on the stimulation interface 250. Additionally, the letter "a" has been added to the stimulation pattern. Figure 16A and Figure 16B There can be multiple states between the described states. Figure 16A and Figure 16B The stimulus pattern described herein changes gradually. For example, the pattern can change one column at a time.

[0136] Figure 16C The diagram illustrates the subsequent state after the word "are" is presented in the stimulation interface 250. It should be noted that the stimulation pattern in this embodiment is not directly derived from... Figure 16A state to Figure 16C In some states, only some letters of the word "are" are presented. In others, only a portion of the letters of the word "are" may be presented. This technology allows users to understand the content of the stimulus pattern more quickly. For example, a user can predict the word following "how". Therefore, even if the complete word "are" is not presented on the tactile stimulation interface 250, the user can predict which letters or words will appear next.

[0137] Figure 16D and Figure 16E Two subsequent states are shown. Figure 16E The word "you" is shown on the tactile stimulation interface 250. Figure 16D The image shows a state where parts of the word "are" and "you" are presented. In this example, the user can predict that the word "you" follows "are." Therefore, even if only part of the word "you" is present in the image, the user can begin to interpret the content.

[0138] It is important to note that Figure 16B and Figure 16D An example is shown where two partial information units are presented simultaneously in the stimulus pattern. For example, in Figure 16BIn this example, the stimulus pattern simultaneously presents a portion of the word "how" (one information unit) and a portion of the word "are" (another information unit). In another example, in Figure 16D In this context, the stimulus pattern simultaneously presents a portion of the word "are" (one information unit) and a portion of the word "you" (another information unit). Furthermore, in... Figure 16D In this stimulus pattern, the stimulus simultaneously presents a portion of the letter "R" (one information unit) and a portion of the letter "O" (another information unit). A "partial information unit" is defined here as information that, due to its incompleteness, cannot express its intended meaning on its own. Therefore, these partial information units may not be understood by the user on their own. However, due to the continuous propagation of the stimulus pattern, the user may even be able to discern meaning within the partial information units. This applies to both partial information units leaving and entering the stimulus pattern.

[0139] In some embodiments, a long short-term memory (LSTM) model is used to control how the stimulus pattern is modified over time. As the stimulus pattern propagates, signal elements can be modified (e.g., decayed, enhanced, dropped, added, etc.) based on the LSTM model. The LSTM model may have input gates, output gates, and forget gates. These three gates can calculate the corresponding output based on the current time step (e.g., t) and the previous time step (e.g., t–1). In some embodiments, various weights can be applied to these gates to obtain the final output of the LSTM model. In some embodiments, portions of the stimulus pattern decay over time. Figure 17 This is a flowchart of one embodiment of the data decay process 1700 in a stimulus pattern. In one embodiment, the process 1700 is based on an LSTM model. For ease of description, the tactile stimulation interface has stimulus elements 0 to n (n+1 elements in total). Figures 7A to 8C For example, n = 7. Combined with... Figures 7A to 7C For example, element 702a is element 0, element 702b is element 1, ..., element 702n is element n. Combined with... Figures 8A to 8C For example, element 802a is element 0, element 802b is element 1, ..., element 802n is element n.

[0140] Step 1702: Activate or deactivate the stimulus element (or haptic pixel) to present a stimulus pattern. The stimulus pattern may come into contact with the user's skin, causing the stimulus pattern to be presented on the user's skin. Step 1704: Determine whether to proceed to the next state of the stimulus pattern. In one embodiment, each state is presented for a predetermined time before proceeding to the next state.

[0141] Step 1706: Remove the data from element 0 of the stimulus pattern. That is, the signal element presented in element 0 for the previous state of the stimulus pattern is no longer part of the stimulus pattern. For example, from Figures 7A to 7B When the state begins, signal element S0 no longer appears in the stimulus pattern.

[0142] Step 1708: Set the element number to 1. Step 1710: Check if the old element number is equal to n+1. This check is used to determine if all elements in the array have been processed. If step 1710 is not true, process 1700 continues to step 1712. Step 1712: Access the attenuation coefficient of the currently processed element. Each element has its own attenuation coefficient. In one embodiment, the attenuation coefficient is between 0 and 1 (inclusive). In one embodiment, an attenuation coefficient of 0 results in the loss of a signal element. In another embodiment, an enhancement factor is used instead of attenuation. That is, in one embodiment, the factor may be greater than 1 for some elements.

[0143] Step 1714: Decay and shift the data in element i to element i+1. For example, from Figures 7A to 7B The process begins with signal element S1 attenuating and moving from element 702b to 702a. Step 1716: Increment the element number. The process returns to step 1710. For example, through this process, signal element S2 can attenuate and move from element 702c to 702b. The attenuation coefficient applied to signal S2 can be less than, equal to, or greater than the attenuation coefficient applied to signal S1.

[0144] After all elements have been processed (yes in step 1710), the process continues to step 1718. Step 1718: Add new data to the stimulus pattern of the new element. For example, from... Figures 7A to 7B At the start of the process, signal element S8 is added to tactile pixel 702h. It should be noted that a particular signal can attenuate multiple times over time as it propagates through the array.

[0145] In some embodiments, a three-dimensional object is represented in an array including the tactile stimulation interface 250. Figure 18 An embodiment of how a three-dimensional object is represented is shown. The tactile stimulation interface 250 includes a two-dimensional array of tactile pixels for representing the two dimensions of the object. In this example, two dimensions of the heart are shown (e.g., x, y). In this embodiment, a third dimension (e.g., z) is represented by the propagation rate of the stimulation pattern. Specifically, in one embodiment, the propagation rate of the stimulation pattern in the x-direction defines depth (or z-dimensional) information. The stimulation pattern may propagate at a different rate in each row.

[0146] Figure 19 A flowchart of an embodiment of the process 1900 for representing a three-dimensional object on a tactile stimulation interface 250. Step 1902: Represent the first and second dimensions of the three-dimensional object in the array in space. Reference Figure 18 The x and y dimensions of the object are represented by tactile pixels. The first and second dimensions can be part of a stimulation pattern. This stimulation pattern can come into contact with the user's skin, causing it to appear on the user's skin.

[0147] Step 1904: Represent the third dimension of the objects in the array in time. (See reference) Figure 18 The propagation rate in each row of the array can be used to transmit depth information. Therefore, depth information can be transmitted using the propagation rates of different regions.

[0148] Figure 20 A flowchart of one embodiment of a process 2000 for representing the third dimension of an object in time on a tactile stimulation interface 250. The process 2000 provides further details of one embodiment of step 1904. Step 2002: Access the z-dimensional information of a row of the tactile stimulation interface 250. In one embodiment, the z-dimensional information is a constant value that can represent the average depth of the row. In another embodiment, the z-dimensional information is an array of values, each value representing the depth (or z-dimensional) of a point of the object.

[0149] Step 2004: Control the rate at which the stimulus pattern propagates in the row based on the z-dimensional information. In one embodiment, a faster propagation rate indicates that the object is closer to the user's reference point in the z-direction. In one embodiment, a constant propagation rate indicates the average depth of the row. In one embodiment, a change in propagation rate indicates a change in the depth of the row. In a later embodiment, the propagation rate may be based on the array of values ​​described above, where each value represents the depth (or z-dimensional) of a point of the object. In a later embodiment, each depth value in the array may be used once, or the depth values ​​in the array may be cycled repeatedly as long as a three-dimensional object is presented on the tactile stimulation interface 250. The process then returns to step 2002 to process the next row in the array. It should be noted that, for ease of description, process 2000 describes processing each row separately. Multiple rows can be processed in parallel.

[0150] In some embodiments, the techniques described herein may be implemented using hardware, software, or a combination of both. The software used is stored in one or more processor-readable storage devices described above to program one or more processors to perform the functions described herein. Processor-readable storage devices may include computer-readable media, such as volatile and non-volatile media, removable and portable media. For example, but not limited to, computer-readable media may include computer-readable storage media and communication media. Computer-readable storage media may be implemented using any method or technique to store computer-readable instructions, data structures, program modules, or other data and other information. Computer-readable storage media is an example of a non-transitory computer-readable medium. Computer-readable storage media include RAM, ROM, EEPROM, flash memory or other storage technologies, CD-ROM, digital versatile disk (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Computer-readable media do not include propagating signals, modulated signals, or transient signals.

[0151] Communication media typically embody computer-readable instructions, data structures, program modules, or other data in the transmission of data signals, modulated data signals, or transient data signals (e.g., carrier waves or other transmission mechanisms), and include any information delivery medium. The term "modulated data signal" refers to a signal whose one or more characteristics are set or altered in a manner that encodes information in the signal. By way of example and not limitation, communication media include wired media such as wired networks or direct wired connections, as well as wireless media such as RF and other wireless media. Combinations of the foregoing are also included within the scope of computer-readable media.

[0152] In alternative embodiments, some or all of the software may be replaced by dedicated hardware logic components. Illustrative types of hardware logic components that may be used include, but are not limited to, Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip (SOCs), Complex Programmable Logic Devices (CPLDs), dedicated computers, etc. In one embodiment, software implementing one or more embodiments (stored in a storage device) is used to program one or more processors. The one or more processors may communicate with one or more computer-readable media / storage devices, peripheral devices, and / or communication interfaces.

[0153] It should be understood that the subject matter of this invention can be implemented in many different forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to make the subject matter complete and to fully convey the invention to those skilled in the art. In fact, this subject matter is intended to cover alternatives, modifications, and equivalents of these embodiments that are included within the scope and spirit of this subject matter as defined by the appended claims. Moreover, in the following detailed description of the subject matter of this invention, numerous specific details are set forth in order to provide a thorough understanding of the subject matter of this invention. However, it will be apparent to those skilled in the art that the subject matter of this invention can be practiced without these specific details.

[0154] This document describes aspects of the invention in conjunction with flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products provided by embodiments of the invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to generate a machine, such that the instructions, executed by the processor of the computer or other programmable instruction execution apparatus, create mechanisms for implementing the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams.

[0155] The description of this invention is presented for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the invention in any way disclosed. Many modifications and alterations will be apparent to those skilled in the art without departing from the scope and spirit of the invention. Aspects of the invention were chosen and described to better explain the principles and practical applications of the invention and to enable those skilled in the art to understand the invention and the various modifications suited to the intended particular use.

[0156] For the purposes of this document, each process associated with the disclosed technology may be executed sequentially by one or more computing devices. Each step in the process may be executed by the same or different computing devices used in other steps, and each step need not be executed by a single computing device.

[0157] Although the subject matter of the invention has been described in language specific to structural features and / or methodological actions, it should be understood that the subject matter defined in the claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and behaviors described above are disclosed as exemplary forms for implementing the claims.

Claims

1. A tactile interface device, characterized in that, include: An array comprising multiple tactile stimulation elements for generating stimulation patterns, the multiple tactile stimulation elements being arranged in a ring; A controller for continuously propagating a stimulating pattern onto a user's skin, comprising repeatedly eliminating a portion of a first end of the stimulating pattern and replacing the eliminated portion with a new portion at a second end of the stimulating pattern; The controller is also used to rotate the array on the user's skin; The controller is used to modify the stimulus pattern over time based on a long short-term memory model.

2. The tactile interface device according to claim 1, characterized in that, The controller is used to spread the stimulation pattern on the user's skin at a constant rate.

3. The tactile interface device according to claim 2, characterized in that, The array includes rows and columns of the tactile stimulation elements, and the controller is used to propagate the stimulation pattern to each row at the same rate.

4. The tactile interface device according to claim 2, characterized in that, The array includes rows and columns of the tactile stimulation elements, and the controller is used to propagate the stimulation pattern to different rows at different rates.

5. The tactile interface device according to any one of claims 1 to 4, characterized in that, The controller is used to simultaneously present two partial information units in the stimulus pattern.

6. The tactile interface device according to any one of claims 1 to 4, characterized in that, The controller is used to simultaneously present a portion of the first character and a portion of the second character in the stimulus pattern.

7. The tactile interface device according to any one of claims 1 to 4, characterized in that, The controller is used to simultaneously present a portion of the first character and a portion of the second character in the stimulus pattern.

8. The tactile interface device according to any one of claims 1 to 4, characterized in that, The controller is used to decay a portion of the stimulus pattern over time.

9. The tactile interface device according to any one of claims 1 to 4, characterized in that, The controller is used to represent three-dimensional objects in the array, including tactile stimulation elements.

10. The tactile interface device according to any one of claims 1 to 4, characterized in that, The controller is used to represent the first and second dimensions of the three-dimensional objects in the array in space, and the third dimension of the three-dimensional objects in the array in time.

11. The tactile interface device according to claim 10, characterized in that, The controller is used to control the rate at which the stimulus pattern propagates in different regions of the array, so as to represent the third dimension of the three-dimensional object in time.

12. The tactile interface device according to any one of claims 1 to 4 and 11, characterized in that, The controller is used to represent the speed of objects in the array, which includes tactile stimulation elements, by the rate at which the stimulation pattern propagates.

13. A method for providing a tactile stimulation interface, characterized in that, The method includes: Generate a stimulation pattern having an array of multiple tactile stimulation elements arranged in a ring; The stimulation pattern is continuously spread on the user's skin, including repeatedly eliminating a portion of a first end of the stimulation pattern and replacing the eliminated portion with a new portion at a second end of the stimulation pattern. The method further includes: Rotate the array on the user's skin; The stimulus pattern is modified over time based on a long short-term memory model.

14. The method according to claim 13, characterized in that, The continuous propagation of the stimulus pattern includes: The stimulation pattern is spread on the user's skin at a constant rate.

15. The method according to claim 13, characterized in that, The continuous propagation of the stimulus pattern includes: The stimulation pattern is propagated at the same rate for each row in the array.

16. The method according to claim 13, characterized in that, The continuous propagation of the stimulus pattern includes: The stimulus pattern is propagated at different rates for different rows in the array.

17. The method according to any one of claims 13 to 16, characterized in that, The continuous propagation of the stimulus pattern includes: Two partial information units are presented simultaneously in the stimulus pattern.

18. The method according to any one of claims 13 to 16, characterized in that, The continuous propagation of the stimulus pattern includes: The stimulus pattern simultaneously presents a portion of the first character and a portion of the second character.

19. The method according to any one of claims 13 to 16, characterized in that, The continuous propagation of the stimulus pattern includes: The stimulation pattern simultaneously presents a portion of the first character and a portion of the second character.

20. The method according to any one of claims 13 to 16, characterized in that, Also includes: The portion of the stimulus pattern decays over time.

21. The method according to any one of claims 13 to 16, characterized in that, The continuous propagation of the stimulus pattern includes: This refers to a three-dimensional object in the stimulus pattern.

22. The method according to any one of claims 13 to 16, characterized in that, The continuous propagation of the stimulus pattern includes: The first and second dimensions of the three-dimensional objects in the array are represented in space. The third dimension of the three-dimensional objects in the array is represented in time.

23. The method according to claim 22, characterized in that, Also includes: The rate at which the stimulus pattern propagates in different regions of the array is controlled so as to represent the third dimension of the three-dimensional object in time.

24. The method according to any one of claims 13 to 16, characterized in that, The continuous propagation of the stimulus pattern includes: The speed of objects in the array, which includes tactile stimuli, is represented by the rate at which the stimulus pattern propagates.

25. A tactile stimulation device, characterized in that, include: A tactile stimulation interface includes an array of multiple tactile pixels for stimulating receptors in a user's skin through stimulation patterns, the multiple tactile pixels being arranged in a ring. A receiver for receiving information to be presented on the tactile stimulation interface; A processor for continuously propagating the stimulation pattern onto the user's skin to present the information, including eliminating a portion at a first end of the stimulation pattern and replacing the eliminated portion at a second end of the stimulation pattern with a new portion; The processor is also configured to rotate the array on the user's skin; The processor is also used to modify the stimulus pattern over time based on a long short-term memory model.

26. The tactile stimulation device according to claim 25, characterized in that, The processor is used to spread the stimulation pattern on the user's skin at a constant rate.

27. The tactile stimulation device according to claim 26, characterized in that, The array comprises rows and columns of the tactile pixels, and the processor is used to propagate the stimulation pattern for each row at the same rate.

28. The tactile stimulation device according to claim 26, characterized in that, The array includes rows and columns of the tactile pixels, and the processor is used to propagate the stimulation pattern to different rows at different rates.

29. The tactile stimulation device according to any one of claims 25 to 28, characterized in that, The processor is used to simultaneously present two partial information units in the stimulus pattern.

30. The tactile stimulation device according to any one of claims 25 to 28, characterized in that, The processor is used to simultaneously present a portion of the first character and a portion of the second character in the stimulus pattern.

31. The tactile stimulation device according to any one of claims 25 to 28, characterized in that, The processor is used to simultaneously present a portion of the first character and a portion of the second character in the stimulus pattern.

32. The tactile stimulation device according to any one of claims 25 to 28, characterized in that, The processor is used to decay portions of the stimulus pattern over time.

33. The tactile stimulation device according to any one of claims 25 to 28, characterized in that, The processor is used to represent three-dimensional objects in the tactile pixel array.

34. The tactile stimulation device according to any one of claims 25 to 28, characterized in that, The processor is used to represent the first and second dimensions of the three-dimensional objects in the array in space, and the third dimension of the three-dimensional objects in the array in time.

35. The tactile stimulation device according to claim 34, characterized in that, The processor is used to control the rate at which the stimulus pattern propagates in different regions of the array, so as to represent the third dimension of the three-dimensional object in time.

36. The tactile stimulation device according to any one of claims 25 to 28 and 35, characterized in that, The processor is used to represent the speed of an object in the tactile pixel array by the rate at which the stimulus pattern propagates.

Images